CN115100885A - Upstream and downstream green wave parameter adjusting method for pedestrian crossing road on road section - Google Patents
Upstream and downstream green wave parameter adjusting method for pedestrian crossing road on road section Download PDFInfo
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Abstract
The invention discloses an upstream and downstream green wave parameter adjusting method for pedestrian crossing a street on a road section, which comprises the following steps: calculating the minimum pedestrian crossing demand time according to the minimum pedestrian green light time and the pedestrian emptying time; calculating the actual passing time of the pedestrian on the basis of the upstream and downstream green wave parameters; judging whether the actual releasable time for the pedestrian to cross the street is greater than or equal to the minimum required time for the pedestrian to cross the street; if yes, no interference is generated; if not, the upstream and downstream green wave parameters are optimized and adjusted. The invention takes pedestrian crossing as a primary target, gives consideration to upstream and downstream green wave control, fundamentally acts on upstream and downstream green wave parameters influencing pedestrian crossing time, optimizes and adjusts signal control parameters of upstream and downstream intersections, adaptively adjusts pedestrian clearance time, and improves the safety and the efficiency of pedestrian crossing.
Description
Technical Field
The invention belongs to the technical field of intelligent traffic signal control, and particularly relates to an upstream and downstream green wave parameter adjusting method for pedestrian crossing in a road section.
Background
Along with the increasingly deep development degree of urban motorization, the problem of pedestrian crossing difficulty is more and more prominent, and the intelligent traffic signal control policy of the heavy vehicle light people violates the initial purpose and ideal of the human-oriented signal control, and a signal control method for ensuring the safety and the efficiency of pedestrian crossing is urgently needed, so that the pedestrian crossing feeling is improved.
At present, intelligent traffic signal control can be mainly divided into two types according to whether the upstream and downstream green wave parameters are considered for the release mode of pedestrian crossing the street on a road section; one is that the upstream and downstream signal schemes are not considered, such as a pedestrian button crossing way, and a pedestrian passing signal is triggered by mainly pressing a crossing button; aiming at the problems that the button is easy to damage and the safety cannot be guaranteed, the Chinese patent application No. CN202011088922.4 provides a non-contact pedestrian crossing control system and method applied to an intersection, wherein the pedestrian crossing button and the non-contact are mutually complementary release modes; however, the pedestrian crossing time is fixed and the upstream and downstream green wave control effect is not taken into consideration. In order to solve the problem, a release mode is provided by considering an upstream and downstream green wave scheme, and the chinese patent application No. CN201610011504.2 provides a pedestrian crossing signal and upstream intersection signal linkage control method and system, which restrains the pedestrian crossing green light delay time by obtaining the time from the vehicle to the upstream intersection road section to fill the pedestrian crossing, thereby ensuring the green wave effect.
However, the above methods are all based on a control mode of protecting green wave angles, i.e. vehicle angles, and are not pedestrian-oriented, pedestrian crossing clearance time is fixed, and whether a clearance allowed interval can meet actual crossing requirements is not deeply studied, so that upstream and downstream green wave parameters are not optimized and adjusted in practice, a space where pedestrians can cross a street is constrained, and when the number of pedestrians is large or the pedestrian crosswalks are long, pedestrian crossing experience cannot be guaranteed, or even safety of crossing the street cannot be guaranteed.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a method for adjusting upstream and downstream green wave parameters for pedestrian crossing in a road section, so as to solve the problem that the pedestrian crossing clearance in the prior art is targeted by the green wave of a motor vehicle, so that the pedestrian clearance time cannot be adaptively changed according to the actual pedestrian passing requirement.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to an upstream and downstream green wave parameter adjusting method for pedestrian crossing a road section, which comprises the following steps:
1) calculating the minimum pedestrian crossing demand time according to the minimum pedestrian green time and the pedestrian emptying time;
2) calculating the actual pedestrian passing time based on the upstream and downstream green wave parameters;
3) judging whether the actual releasable time for the pedestrian to cross the street is greater than or equal to the minimum required time for the pedestrian to cross the street; if yes, no interference is generated; if not, the upstream and downstream green wave parameters are optimized and adjusted.
Further, the minimum required time t for the pedestrian to cross the street in the step 1) min The calculation method of (2) is as follows:
11) determining the minimum green time t of a pedestrian g : the minimum green time of the pedestrians is taken according to the actual conditions of the intersection, and values can be taken according to the number of the pedestrians and the width of the pedestrian crossing;
12) determining pedestrian clearance time t c : the pedestrian emptying time is in direct proportion to the length of the pedestrian crossing, and the formula is calculated as follows:
in the formula, t c For pedestrian clearance time, w is the crosswalk length, v p The pedestrian clearing pace can be specifically taken according to the actual condition of the intersection;
13) calculating the minimum required time t for the pedestrian to cross the street according to the minimum green light time and the emptying time of the pedestrian min ：
t min ＝t c +t g 。
Further, the step 2) specifically comprises: based on the upstream and downstream green wave parameters, according to the geographical position information of the actual upstream and downstream intersections, considering pedestrian crossing conflict traffic flow, calculating the neutral section of the pedestrian crossing the street, and solving the actual passing time t of the pedestrian crossing the street atl 。
Further, the actual pedestrian passing time t is calculated in the step 2) based on the upstream and downstream green wave parameters atl The method comprises the following steps:
21) acquiring upstream and downstream green wave parameters: suppose that I is on a road section 0 、I 1 Is an adjacent upstream and downstream intersection, I p For pedestrian crossing, suppose the passing phase sequence of the upstream and downstream intersections is { east-west straight, east-west left turn, south-north straight, south-north left turn } sequence, and respectively number 9 stage, 4 stage, 8 stage, and 0 stage, the passage duration of the stages is T 09 、T 04 、T 08 、T 00 、T 19 、T 14 、T 18 、T 10 With a period of coordination sub-zone of C 0 ＝T 09 +T 04 +T 08 +T 00 ＝T 19 +T 14 +T 18 +T 10 At intersection I 0 Is a reference intersection with a phase difference of 0 and an intersection I 1 Phase difference of O 1 Considering all traffic phases conflicting with pedestrian crossing, including the coordination phase and the non-coordination direction left-turning phase, i.e. I 0 And I 1 Stage 9 and stage 0;
22) acquiring geographical position information of upstream and downstream intersections; groundThe position management information includes: crosswalk I between upstream and downstream intersection p Are each S 0 、S 1 ；
23) Calculating the time of the traffic flow at the upstream and downstream intersections reaching the pedestrian crosswalks: assuming that the driving speeds of the vehicles are consistent throughout the road section, the phase difference O is used 1 Obtaining vehicle speed V e Comprises the following steps:
then the intersection I 0 Time of traffic flow arriving at pedestrian crossing
Intersection I 1 Time of traffic flow arriving at pedestrian crossing
24) Calculating the time interval of the traffic flow of the upstream and downstream intersections passing through the pedestrian crosswalks: calculating the following time intervals according to the stage passing time length and the arrival time;
intersection I 0 Coordination phase conflict interval: [ T ] 0 ,T 0 +T 09 ]
Intersection I 0 Left turn stage conflict interval: [ C ] 0 +T 0 -T 00 ,C 0 +T 0 ]
Intersection I 1 Coordination phase conflict interval: [ T ] 1 +O 1 ,T 1 +O 1 +T 19 ]
Intersection I 1 Left turn stage conflict interval: [ O ] 1 +C 0 +T 1 -T 10 ,O 1 +C 0 +T 1 ]
Based on pedestrian crossing, namely T 0 To T 0 +C 0 As a period of pedestrian crossing, if O 1 +C 0 +T 1 -T 10 <C 0 +T 0 And O is 1 +C 0 +T 1 >C 0 +T 0 Intersection I 1 The time interval of the left turn stage is continued to the next period, and the intersection I is arranged in the same period 1 The time interval of the left turn stage includes two time intervals, each of which is [ O ] 1 +C 0 +T 1 -T 10 ,C 0 +T 0 ]And [ T 0 ,(O 1 +C 0 +T 1 )mod(C 0 +T 0 )+T 0 ]Mod is the modulo operation, if O 1 +C 0 +T 1 -T 10 >C 0 +T 0 And O is 1 +C 0 +T 1 >C 0 +T 0 Will continue all the way to the next cycle, at which time the interval is [ (O) 1 +C 0 +T 1 -T 10 )modC 0 ,(O 1 +C 0 +T 1 )modC 0 ]；
25) And (3) calculating the pedestrian street-crossing neutral interval according to each time interval: the pedestrian crossing neutral section can be obtained from the time section of the traffic flow at the upstream and downstream intersections passing through the pedestrian crosswalk:
[T 1 +O 1 +T 19 ,C 0 +T 0 -T 00 ]；
26) calculating the actual releasing time t of the pedestrian crossing the street according to the pedestrian crossing the street neutral interval atl ：
t atl ＝(C 0 +T 0 -T 00 )-(T 1 +O 1 +T 19 )。
Further, the optimization and adjustment of the upstream and downstream green wave parameters in the step 3) includes the following steps:
31) calculating the total shortening time t of upstream and downstream obj ：
t obj ＝t min -t atl ；
32) Calculating the shortening time of the upstream and downstream stages by the pedestrian crossing neutral interval: the pedestrian crossing the street neutral section can influence the actual releasable time t of the pedestrian crossing the street atl Size is intersection I 1 End time T of the coordination phase 1 +O 1 +T 19 And intersection I 0 At the beginning of the left turn phaseAt that moment, i.e. by ending the intersection I in advance 1 Coordination phase and delayed start intersection I 0 To prolong the actual time t for the pedestrian to pass the street atl I.e. shorten the crossing I 1 Coordination phase and intersection I 0 The left turn stage duration of the two stages is specifically shortened, and the duration is distributed according to the traffic duration proportion of the two stages;
for intersection I 0 Shortening the duration T in the left-turn stage 00d ：
For intersection I 1 The coordination phase needs to shorten the time length T 19d ：
33) And (3) shortening time length and performing alignment correction: if T is 19d +T 00d >t obj Reducing the shortening time of the shortening time period to T 19d +T 00d -t obj (ii) a If T is 19d +T 00d <t obj The shortening time of the shortening time short stage is increased, and the time t is increased obj -(T 19d +T 00d ) (ii) a When the two are equal, taking the intersection I 1 A stage (2);
34) calculating the extension time of other stages of each intersection according to the shortened time length, wherein the shortened time length needs to be extended to other stages of each intersection, and the specific extension time length is distributed according to the passing time length proportion of each stage;
for intersection I 0 ：
For intersection I 1 ：
Wherein, T 09a 、T 04a 、T 08a Are respectively an intersection I 0 Extended time required for stages 9, 4, 8, T 14a 、T 18a 、T 10a Are respectively an intersection I 1 The extended time required for the stage 4, the stage 8 and the stage 0;
35) and (3) extended time compensation correction: for intersection I 1 If T is 14a +T 18a +T 10a >T 19d Reducing the extension time of the longest extension time period to T 14a +T 18a +T 10a -T 19d (ii) a If T is 14a +T 18a +T 10a <T 19d Increasing the extension time of the shortest extension time to T 19d -(T 14a +T 18a +T 10a ) (ii) a For intersection I 0 The same way is adopted; a stage capable of taking the first position when a plurality of stages exist in the stage with the longest extension time or the stage with the shortest extension time;
36) acquiring adjusted upstream and downstream green wave parameters and optimizing pedestrian street-crossing neutral time t' atl ：
T 09 ＝T 09 +T 09a
T 04 ＝T 04 +T 04a
T 08 ＝T 08 +T 08a
T 00 ＝T 00 -T 00d
T 19 ＝T 19 -T 19d
T 14 ＝T 14 +T 14a
T 18 ＝T 18 +T 18a
T 10 ＝T 10 +T 10a
t′ atl ＝t atl +t obj 。
The invention has the beneficial effects that:
the invention is oriented to the pedestrian crossing as the primary target, firstly, the minimum requirement of the pedestrian crossing is calculated, and the actual releasing time of the pedestrian crossing is calculated based on the upstream and downstream green wave parameters, so that the problem of insufficient time for the pedestrian crossing is compared and judged; then, under the condition of ensuring that the period of the sub-area is not changed, namely, the upstream and downstream green wave control is taken into consideration, the upstream and downstream green wave parameters influencing the pedestrian crossing time are acted fundamentally, and the signal control parameters of the upstream and downstream intersections are optimized and adjusted, so that the pedestrian release time is adjusted in a self-adaptive manner; the pedestrian crossing safety problem is efficiently solved, and the pedestrian crossing experience is effectively improved. The system is particularly suitable for traffic scenes in shopping malls, squares, hospitals and other road sections with obvious pedestrian crossing demand compared with motor vehicle passing demand. The concrete expression is as follows:
1. the method changes from the starting point of motor vehicle release to the primary target of pedestrian crossing, not only provides a method for comparing and judging whether the pedestrian crossing is short in time, but also provides a method for adjusting the upstream and downstream green wave parameters, and is convenient for signal control technicians to actually refer to the operation.
2. For the calculation of the minimum requirement of the pedestrians for crossing the street, the emptying time of the pedestrians is considered, and meanwhile, the minimum green time of the pedestrians is considered, so that the minimum requirement of the pedestrians for crossing the street is better guaranteed.
3. For the calculation of the actual time for the pedestrian to cross the street, the upstream and downstream bidirectional states, the coordination stage and the non-coordination direction left-turn stage are considered, and the calculation result is more visual, comprehensive and accurate by taking the pedestrian to cross the street as the reference.
4. The adjustment of the upstream and downstream green wave parameters is carried out on the upstream and downstream green wave parameters influencing the pedestrian crossing time length under the condition of ensuring that the period of a coordination sub-area is unchanged, namely the upstream and downstream green wave control is taken into consideration, and meanwhile, the upstream and downstream green wave parameters influencing the pedestrian crossing time length are acted under the condition of minimum influence on the road section green wave and the original upstream and downstream green wave parameters, so that the signal control parameters of the upstream and downstream intersections are optimized and adjusted.
Drawings
FIG. 1 is a schematic diagram of the method of the present invention.
Fig. 2 is a geographical schematic diagram of pedestrian and motor vehicle conflict.
FIG. 3 is a schematic diagram of pedestrian crossing gap interval calculation and upstream and downstream green wave parameter adjustment.
Detailed Description
In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.
Referring to fig. 1 to 3, the upstream and downstream green wave parameter adjusting method for pedestrian crossing in a road section according to the present invention includes the following steps:
1) calculating the minimum pedestrian crossing demand time according to the minimum pedestrian green light time and the pedestrian emptying time;
wherein the minimum required time t for the pedestrian to cross the street min The calculation method of (2) is as follows:
11) determining the minimum green time t of a pedestrian g : taking the minimum green time of the pedestrians according to the actual condition of the intersection, and specifically, taking the minimum green time of the pedestrians for 5-10s according to the number of the pedestrians and the width of a pedestrian crossing;
12) determining pedestrian clearance time t c : the pedestrian emptying time is in direct proportion to the length of the pedestrian crossing, and the formula is calculated as follows:
in the formula, t c For pedestrian clearing time, w is the pedestrian crossing length, v p The pedestrian clearing pace can be specifically selected according to the actual situation of the intersection, and the pedestrian crossing speed is generally 1.17-1.29 m/s;
13) calculating the minimum pedestrian crossing demand time t according to the minimum pedestrian green light time and the pedestrian emptying time min ：
t min ＝t c +t g 。
2) Calculating the actual pedestrian passing time based on the upstream and downstream green wave parameters; the method specifically comprises the following steps: calculating the neutral interval of pedestrian crossing according to the pedestrian crossing conflicted traffic flow and the actual pedestrian crossing practical position information based on the upstream and downstream green wave parameters and the practical pedestrian crossing releasable time t atl 。
Wherein, the actual releasing time t of the pedestrian crossing the street is calculated based on the green wave parameters of the upstream and the downstream atl The method comprises the following steps:
21) acquiring upstream and downstream green wave parameters: suppose that I is on a road section 0 、I 1 Is an adjacent upstream and downstream intersection, I p For pedestrian crossing, suppose the passing phase sequence of the upstream and downstream intersections is { east-west straight, east-west left turn, south-north straight, south-north left turn } sequence, and respectively number 9 stage, 4 stage, 8 stage, and 0 stage, the passage duration of the stages is T 09 、T 04 、T 08 、T 00 、T 19 、T 14 、T 18 、T 10 With a period of coordination sub-zone of C 0 ＝T 09 +T 04 +T 08 +T 00 ＝T 19 +T 14 +T 18 +T 10 At intersection I 0 Is a reference intersection with a phase difference of 0 and an intersection I 1 Phase difference of O 1 Considering all traffic phases conflicting with pedestrian crossing, including the coordination phase and the non-coordination direction left-turning phase, i.e. I 0 And I 1 Stage 9 and stage 0;
22) acquisition of geographical position information of upstream and downstream intersections(ii) a The geographical location information includes: crosswalk I between upstream and downstream intersection p Are each S 0 、S 1 ；
23) Calculating the time of the traffic flow at the upstream and downstream intersections reaching the pedestrian crosswalks: assuming that the driving speeds of the vehicles are consistent throughout the road section, the phase difference O is used 1 Obtaining vehicle speed V e Comprises the following steps:
then the intersection I 0 Time of traffic flow arriving at pedestrian crossing
Intersection I 1 Time of traffic flow arriving at pedestrian crossing
24) Calculating the time interval of the traffic flow of the upstream and downstream intersections passing through the pedestrian crosswalks: calculating the following time intervals according to the stage passing time length and the arrival time;
intersection I 0 Coordination phase conflict interval: [ T ] 0 ,T 0 +T 09 ]
Intersection I 0 Left-turn stage conflict interval: [ C ] 0 +T 0 -T 00 ,C 0 +T 0 ]
Intersection I 1 Coordination phase conflict interval: [ T ] 1 +O 1 ,T 1 +O 1 +T 19 ]
Intersection I 1 Left turn stage conflict interval: [ O ] 1 +C 0 +T 1 -T 10 ,O 1 +C 0 +T 1 ]
Based on pedestrian crossing, namely T 0 To T 0 +C 0 As a period of pedestrian crossing, if O 1 +C 0 +T 1 -T 10 <C 0 +T 0 And O is 1 +C 0 +T 1 >C 0 +T 0 Intersection I 1 The time interval of the left-turn stage is continued to the next period, and the intersection I is arranged in the same period 1 The time interval of the left turn stage includes two time intervals, each of which is [ O ] 1 +C 0 +T 1 -T 10 ,C 0 +T 0 ]And [ T 0 ,(O 1 +C 0 +T 1 )mod(C 0 +T 0 )+T 0 ]Mod is the modulo operation, if O 1 +C 0 +T 1 -T 10 >C 0 +T 0 And O is 1 +C 0 +T 1 >C 0 +T 0 Will continue all the way to the next cycle, at which time the interval is [ (O) 1 +C 0 +T 1 -T 10 )modC 0 ,(O 1 +C 0 +T 1 )modC 0 ]；
25) And (3) calculating the pedestrian street-crossing neutral interval according to each time interval: the pedestrian crossing neutral section can be obtained from the time section of the traffic flow at the upstream and downstream intersections passing through the pedestrian crosswalk:
[T 1 +O 1 +T 19 ,C 0 +T 0 -T 00 ]；
26) calculating the actual releasing time t of the pedestrian crossing the street according to the pedestrian crossing the street neutral interval atl ：
t atl ＝(C 0 +T 0 -T 00 )-(T 1 +O 1 +T 19 )。
3) Judging whether the actual releasable time for the pedestrian to cross the street is greater than or equal to the minimum required time for the pedestrian to cross the street; if yes, no interference is generated; if not, optimizing and adjusting the upstream and downstream green wave parameters;
the method for optimizing and adjusting the upstream and downstream green wave parameters comprises the following steps:
31) calculating the total shortening time t of upstream and downstream obj ：
t obj ＝t min -t atl
32) Calculating the shortening time of the upstream and downstream stages by the pedestrian crossing neutral interval: the pedestrian crossing the street can be influenced by the neutral intervalActual releasable time t of street atl Size is intersection I 1 End time T of the coordination phase 1 +O 1 +T 19 And intersection I 0 At the start of the left turn phase, i.e. by ending the intersection I in advance 1 Coordination phase and delayed start intersection I 0 To prolong the actual time t for the pedestrian to pass the street atl I.e. shorten the crossing I 1 Coordination phase and intersection I 0 The length of the left turn stage is specifically shortened and the length of the left turn stage is distributed according to the traffic length proportion of the left turn stage and the right turn stage;
for intersection I 0 Shortening the duration T in the left-turn stage 00d ：
For intersection I 1 The coordination phase needs to shorten the time length T 19d ：
33) And (3) shortening time length and performing alignment correction: if T is 19d +T 00d >t obj Reducing the shortening time of the long shortening time stage in consideration of the minimum influence on the original upstream and downstream green wave parameters, wherein the shortening time is T 19d +T 00d -t obj (ii) a If T is 19d +T 00d <t obj The shortening time of the shortening time short stage is increased, and the time t is increased obj -(T 19d +T 00d ) (ii) a When the two are equal, the intersection I is taken out from the consideration of minimum influence on the green wave of the road section 1 A stage (2);
34) calculating the extension time of other stages of each intersection according to the shortened time, considering the coordination control of upstream and downstream intersections, and distributing the specific extension time according to the traffic time proportion of each stage when the shortened time needs to be extended to other stages of each intersection;
for intersection I 0 ：
For intersection I 1 ：
Wherein, T 09a 、T 04a 、T 08a Are respectively an intersection I 0 Extended time required for stages 9, 4, 8, T 14a 、T 18a 、T 10a Are respectively an intersection I 1 The extended time required for the stage 4, the stage 8 and the stage 0;
35) and (3) extended time compensation correction: for intersection I 1 If T is 14a +T 18a +T 10a >T 19d Reducing the extension time of the longest extension time stage with minimum influence on the original upstream and downstream green wave parameters, wherein the reduction time is T 14a +T 18a +T 10a -T 19d (ii) a If T is 14a +T 18a +T 10a <T 19d The shortest stage of prolonging the time is improved by taking the minimum influence on the original upstream and downstream green wave parameters into considerationAnd the increase time is T 19d -(T 14a +T 18a +T 10a ) (ii) a For intersection I 0 In the same way; a stage capable of taking the first position when a plurality of stages exist in the stage with the longest extension time or the stage with the shortest extension time;
36) acquiring adjusted upstream and downstream green wave parameters and optimizing pedestrian street-crossing neutral time t' atl ：
T 09 ＝T 09 +T 09a
T 04 ＝T 04 +T 04a
T 08 ＝T 08 +T 08a
T 00 ＝T 00 -T 00d
T 19 ＝T 19 -T 19d
T 14 ＝T 14 +T 14a
T 18 ＝T 18 +T 18a
T 10 ＝T 10 +T 10a
t′ atl ＝t atl +t obj 。
While the invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that modifications thereof can be made by one of ordinary skill in the art without departing from the principles of the invention and that such modifications are to be considered as within the scope of the invention.
Claims (4)
1. An upstream and downstream green wave parameter adjusting method for pedestrian crossing in a road section is characterized by comprising the following steps:
1) calculating the minimum pedestrian crossing demand time according to the minimum pedestrian green light time and the pedestrian emptying time;
2) calculating the actual passing time of the pedestrian on the basis of the upstream and downstream green wave parameters;
3) judging whether the actual releasable time for the pedestrian to cross the street is greater than or equal to the minimum required time for the pedestrian to cross the street; if yes, no interference is generated; if not, the upstream and downstream green wave parameters are optimized and adjusted.
2. The method for adjusting upstream and downstream green wave parameters facing pedestrian crossing according to claim 1, wherein the minimum required time t for pedestrian crossing in step 1) is min The calculation method of (2) is as follows:
11) determining the minimum green time t of a pedestrian g : taking the minimum green time of the pedestrians according to the actual condition of the intersection, and specifically taking values according to the number of the pedestrians and the width of a pedestrian crossing;
12) determining pedestrian clearance time t c : the pedestrian emptying time is in direct proportion to the length of the pedestrian crossing, and the formula is calculated as follows:
in the formula, t c For pedestrian clearance time, w is the crosswalk length, v p The pedestrian emptying pace is specifically taken according to the actual situation of the intersection, and roundup is taken upwards;
13) calculating the minimum required time t for the pedestrian to cross the street according to the minimum green light time and the emptying time of the pedestrian min ：
t min ＝t c +t g 。
3. The method for adjusting upstream and downstream green wave parameters for pedestrian crossing according to claim 2, wherein the step 2) calculates the actual time t for pedestrian crossing based on the upstream and downstream green wave parameters atl The method comprises the following steps:
21) acquiring upstream and downstream green wave parameters: suppose that I is on a road section 0 、I 1 Is an adjacent upstream and downstream intersection, I p For pedestrian crossing, suppose the passing phase sequence of the upstream and downstream intersections is { east-west straight, east-west left turn, south-north straight, south-north left turn } sequence, and respectively number 9 stage, 4 stage, 8 stage, and 0 stage, the passage duration of the stages is T 09 、T 04 、T 08 、T 00 、T 19 、T 14 、T 18 、T 10 With a coordinating sub-region period of C 0 ＝T 09 +T 04 +T 08 +T 00 ＝T 19 +T 14 +T 18 +T 10 At intersection I 0 Is a reference intersection with a phase difference of 0 and an intersection I 1 Phase difference of O 1 Considering all traffic phases conflicting with pedestrian crossing, including the coordination phase and the non-coordination direction left-turning phase, i.e. I 0 And I 1 Stage 9 and stage 0;
22) acquiring geographical position information of upstream and downstream intersections; the geographical location information includes: crosswalk I between upstream and downstream intersection p Are each S 0 、S 1 ；
23) Calculating the time of the traffic flow at the upstream and downstream intersections reaching the pedestrian crosswalks: assuming that the driving speeds of the vehicles are consistent throughout the road section, the phase difference O is used 1 Obtaining vehicle speed V e Comprises the following steps:
then the intersection I 0 Time of traffic flow arriving at pedestrian crossing
Intersection I 1 Time of traffic flow arriving at pedestrian crossing
24) Calculating the time interval of the traffic flow passing through the pedestrian crosswalk at the upstream and downstream intersections: calculating the following time intervals according to the stage passing time length and the arrival time;
intersection I 0 Coordination phase conflict interval: [ T ] 0 ,T 0 +T 09 ]
Intersection I 0 Left turn stage conflict interval: [ C ] 0 +T 0 -T 00 ,C 0 +T 0 ]
Intersection I 1 Coordination phase conflict interval: [ T ] 1 +O 1 ,T 1 +O 1 +T 19 ]
Intersection I 1 Left turn stage conflict interval: [ O ] 1 +C 0 +T 1 -T 10 ,O 1 +C 0 +T 1 ]
Based on pedestrian crossing street, namely T 0 To T 0 +C 0 As a period of pedestrian crossing, if O 1 +C 0 +T 1 -T 10 <C 0 +T 0 And O is 1 +C 0 +T 1 >C 0 +T 0 Intersection I 1 The time interval of the left turn stage is continued to the next period, and the intersection I is arranged in the same period 1 The time interval of the left turn stage includes two time intervals, each of which is [ O ] 1 +C 0 +T 1 -T 10 ,C 0 +T 0 ]And [ T 0 ,(O 1 +C 0 +T 1 )mod(C 0 +T 0 )+T 0 ]Mod is the modulo operation, if O 1 +C 0 +T 1 -T 10 >C 0 +T 0 And O is 1 +C 0 +T 1 >C 0 +T 0 Will continue all the way to the next cycle, at which time the interval is [ (O) 1 +C 0 +T 1 -T 10 )modC 0 ,(O 1 +C 0 +T 1 )modC 0 ]；
25) And (3) calculating the pedestrian street-crossing neutral interval according to each time interval: the pedestrian crossing neutral section can be obtained from the time section of the traffic flow at the upstream and downstream intersections passing through the pedestrian crosswalk:
[T 1 +O 1 +T 19 ,C 0 +T 0 -T 00 ]；
26) calculating the actual releasing time t of the pedestrian crossing the street according to the pedestrian crossing the street neutral interval atl ：
t atl ＝(C 0 +T 0 -T 00 )-(T 1 +O 1 +T 19 )。
4. The method for adjusting the upstream and downstream green wave parameters facing the pedestrian crossing according to claim 3, wherein the step 3) of optimally adjusting the upstream and downstream green wave parameters comprises the following steps:
31) calculating the total shortening time t of upstream and downstream obj ：
t obj ＝t min -t atl ；
32) Calculating the shortening time of the upstream and downstream stages by the pedestrian crossing neutral interval: the pedestrian crossing neutral interval influences the actual releasable time t of the pedestrian crossing the street atl Size is intersection I 1 End time T of the coordination phase 1 +O 1 +T 19 And intersection I 0 At the start of the left turn phase, i.e. by ending the intersection I in advance 1 Coordination phase and delayed start intersection I 0 To prolong the actual time t for the pedestrian to pass the street atl I.e. shorten the crossing I 1 Coordination phase and intersection I 0 The length of the left turn stage is specifically shortened and the length of the left turn stage is distributed according to the traffic length proportion of the left turn stage and the right turn stage;
for intersection I 0 Shortening the duration T in the left-turn stage 00d ：
For intersection I 1 The coordination phase needs to shorten the time length T 19d ：
33) And (3) shortening time length and performing alignment correction: if T is 19d +T 00d >t obj Reducing the shortening time of the shortening time period to T 19d +T 00d -t obj (ii) a If T is 19d +T 00d <t obj The shortening time of the shortening time short stage is increased, and the time t is increased obj -(T 19d +T 00d ) (ii) a When the two are equal, take intersection I 1 A stage (2);
34) calculating the extension time of other stages of each intersection according to the shortened time length, wherein the shortened time length needs to be extended to other stages of each intersection, and the specific extension time length is distributed according to the passing time length proportion of each stage;
for intersection I 0 ：
For intersection I 1 ：
Wherein, T 09a 、T 04a 、T 08a Are respectively an intersection I 0 Extended time required for stage 9, stage 4, stage 8, T 14a 、T 18a 、T 10a Are respectively a crossFork mouth I 1 The extended time required for the stage 4, the stage 8 and the stage 0;
35) and (3) extended time compensation correction: for intersection I 1 If T is 14a +T 18a +T 10a >T 19d Reducing the extension time of the longest extension time stage, wherein the reduction time is T 14a +T 18a +T 10a -T 19d (ii) a If T is 14a +T 18a +T 10a <T 19d Increasing the extension time of the shortest extension time to T 19d -(T 14a +T 18a +T 10a ) (ii) a For intersection I 0 The same way is adopted; a stage of taking a first position when a plurality of stages exist in the stage with the longest extension time or the stage with the shortest extension time;
36) acquiring adjusted upstream and downstream green wave parameters and optimizing pedestrian street-crossing neutral time t' atl ：
T 09 ＝T 09 +T 09a
T 04 ＝T 04 +T 04a
T 08 ＝T 08 +T 08a
T 00 ＝T 00 -T 00d
T 19 ＝T 19 -T 19d
T 14 ＝T 14 +T 14a
T 18 ＝T 18 +T 18a
T 10 ＝T 10 +T 10a
t′ atl ＝t atl +t obj 。
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